References used in this course. Bibliography and source coverage are versioned with the repository.
CMU 16-715
CMU 16-715. Advanced Robot Dynamics and Simulation — lecture series.
Companion video series for modeling, integration, rigid-body dynamics, constraints, and contact.
CMU dynamics notebooks
CMU 16-715 course organization. 16-715 lecture notebooks.
Further computational examples; original notebooks are not copied into this repository.
CMU optimal control
CMU Robotics Institute. Optimal Control and Reinforcement Learning — requested lecture series.
Companion videos. Consult the dated course index because the syllabus changes between years.
CMU 16-745 index
Zachary Manchester and CMU course staff. Optimal Control 16-745 — lecture index.
Topic-level connection to discretization, LQR, MPC, trajectory optimization, rotations, and learning.
MIT Underactuated videos
Russ Tedrake, MIT. Underactuated Robotics — requested lecture playlist.
Optional lecture viewing alongside the continuously updated online notes.
MIT Manipulation videos
Russ Tedrake, MIT. Robotic Manipulation, Fall 2023.
Companion lectures on manipulation, differential kinematics, contact, and learning.
Tedrake, Underactuated Robotics
Russ Tedrake. Underactuated Robotics — online notes.
Further reading on nonlinear dynamics, planning, optimal control, and learning.
MIT LQR
Russ Tedrake. Linear Quadratic Regulators.
Read the LQR derivation and local stabilization discussion; translate configuration errors into MuJoCo tangent coordinates.
MIT trajectory optimization
Russ Tedrake. Trajectory Optimization.
Compare shooting and transcription; the course uses small Python examples before large robot optimization.
MIT multibody dynamics
Russ Tedrake. Multi-Body Dynamics.
Compare manipulator equations and constrained dynamics with the MuJoCo force decomposition.
MIT Manipulation notes
Russ Tedrake. Robotic Manipulation — online notes.
Further reading on contact-rich manipulation and learned policies; source notation is translated explicitly.
MIT differential IK
Russ Tedrake. Let's Pick (and Place)!.
Differential inverse kinematics and Jacobian-based manipulation.
MuJoCo computation
MuJoCo contributors. MuJoCo computation.
Authoritative force, generalized-coordinate, actuator, and constraint conventions.
MuJoCo API
MuJoCo contributors. MuJoCo API functions.
Function-level reference. The lockfile fixes the executable version; stable documentation can move.
MuJoCo MJX
MuJoCo contributors. MuJoCo XLA (MJX).
Batching and differentiable simulation; distinguish MJX-JAX from MJX-Warp and check backend feature support.
Drake hydroelastic
Drake contributors. Hydroelastic contact user guide.
Optional comparison with distributed compliant contact; not a claim of equivalence to MuJoCo's contact solver.
Pinocchio algorithms
Stack of Tasks / Pinocchio contributors. Pinocchio documentation.
Optional independent implementation of RNEA, CRBA, and ABA for an engine comparison.
Udwadia and Kalaba
Firdaus E. Udwadia and Robert E. Kalaba (1996). Equations of Motion for Mechanical Systems.
Primary discussion of the explicit constrained equations and Lagrange multipliers.
uv project workflow
Astral. Locking and syncing.
Reproducible Python project environments.